Joyous Prayer

It was taught: R. Elazar said in the name of R. Abba; The verse says[1] “Serve the Lord with joy, come before Him with praise.” The verse comes to teach that the only way to serve G-d is joyously. For R. Elazar has taught that the Divine Presence does not reside where there is sadness. This can be seen in the verse[2] [that Elisha said], “’And now fetch me a musician.’ And it was that when the musician played [the hand of the Lord came upon him]”…

(Zohar, Vayechi 117)